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  • About
  • The Global ETD Search service is a free service for researchers to find electronic theses and dissertations. This service is provided by the Networked Digital Library of Theses and Dissertations.
    Our metadata is collected from universities around the world. If you manage a university/consortium/country archive and want to be added, details can be found on the NDLTD website.
91

Estudo de escoamento de ar em dutos com múltiplas saídas. / Study of airflow on ducts with multiple outlets.

Thierre Zulzke Penteado 07 October 2014 (has links)
Este trabalho apresenta um estudo sobre o escoamento de ar em dutos com múltiplas saídas que são identificados como caixas sopradoras, quando instalados em máquinas desaguadoras de celulose. Estas caixas auxiliam o processo de secagem conduzindo ar aquecido até um conjunto de orifícios que produzem jatos que são impingidos sobre as folhas de celulose fabricadas. É realizada revisão bibliográfica abordando processos e equipamentos de secagem, com foco no escoamento de ar, métodos para solução numérica de escoamentos, seus modelos e parâmetros, e abordagem semi-empírica para fluxos de ar na saída de dutos. O escoamento do ar no interior da caixa sopradora e nos jatos de saída são estudados através de simulação numérica, e de modelo semi-empírico. São propostas duas alternativas de geometria para estes dutos de modo que se garanta a maior uniformidade possível na vazão e na velocidade média do ar que saí através dos orifícios Na primeira alternativa considera-se que a seção transversal da caixa sopradora se mantém constante. Na segunda se considera que a seção transversal seja reduzida de modo uniforme ao longo da caixa sopradora. Um estudo experimental sobre o comportamento do escoamento de ar para caixas sopradoras em escala reduzida apresenta resultados que possibilitam validar um conjunto de valores numéricos obtidos na simulação e também estabelecer características para o escoamento de modo a atender o processo de secagem. Para cada alternativa são adotadas duas condições de vazão de ar. Os resultados obtidos pela da simulação numérica e modelagem semi-empírica validam um perfil geométrico adequado para que a caixa sopradora produza um conjunto de jatos nas suas saídas com valores de velocidade média. Um dos principais resultados foi obtido para a caixa com 275 orificios, na qual as velocidades médias estiveram dentro do intervalo de 32,5 m/s e 33,1 m/s, que representou um ótimo resultado em termos de balanceamento e uniformidade das vazões de ar. / This study presents an analysis about airflow in ducts with multiple outlets that are identified as blow boxes, when installed in pulp dewatering machines. These boxes work in the drying process leading heated air to a set of nozzles that produce air jets that are impinged against the pulp sheet. It is performed literature review about drying processes and equipment, with a focus on air flow, methods for numerical solution of airflows, their models and parameters, and semi-empirical approach about airflow at the outlets of the duct. The airflow inside the blow box and the output jets are studied by numerical simulation, and semi-empirical model. It is proposed two alternative geometries for these ducts in order to guarantee the greatest possible uniformity in flow rate, and in the average velocity of air jets. In the first alternative is considered that the cross section of the blow box remains constant. In the second one it is considered that the cross section is reduced uniformly along the blow box. An experimental study about the behavior of the airflow in blow boxes, using scaled models, presents results that can validate a set of numerical values obtained in the simulation and also establish characteristics for the drying process. For each alternative two conditions of airflow are adopted. The results obtained through numerical simulation and semi-empirical modeling validates an appropriate geometrical profile for the blow box in order to set the values of average speed within the range required by the drying process. One of the principal results, obtained for the case of boxes with 275 holes, was the average speed within the range of 32,5 m/s and 33,1 m/s, this range represents a great result in tterms of balance and uniformity of air flow.
92

Návrh větrání čistého prostoru mikrobiologické laboratoře / Ventilation of a microbiological lab

Vrubl, David January 2008 (has links)
The diploma thesis conversant problem of ventilation clean rooms of microbiological laboratory. Clean rooms pose enhanced requirements on quality distributed air, air filtrating, noisiness, humidity, stream velocity, temperature and quarantee requirement overpressures. Practical part is attention paid to solvent project solution airconditioning clean rooms of microbiological laboratory, completion need of calculations and dispose scheme of air conditioning
93

Caractérisation aéraulique et thermique au sein d'un empilement de produits dégageant de la chaleur : application au cas des palettes de fromage / Characterization of heat transfer and airflow within a pallet of heat-generating product : applied to cheese pallets

Pham, Anh Thu 09 April 2019 (has links)
Le fromage, comme tout produit frais, doit être conservé à basse température tout au long de la chaîne du froid. Une particularité des fromages à pâte molle (camembert, par exemple) est qu’ils dégagent un flux de chaleur important à cause de la respiration des microorganismes qui y sont présent. D’un point de vue thermique, suffisamment d’air froid doit entrer dans une palette de fromage pour évacuer la chaleur dégagée afin de maintenir une température stable dans le système. D’un point de vu aéraulique, l’échauffement du produit induit de la convection naturelle à l’intérieur de la palette. Plusieurs modes de convection sont donc présents : la convection forcée imposée par les ventilateurs de la chambre froide autour de la palette et la convection mixte, combinaison de convections forcée et naturelle, à l’intérieur de la palette. Ceci augmente par conséquent la complexité de l’écoulement d’air. Le régime de convection mixte apparait surtout à faible vitesse de ventilation ce qui est souvent le cas lors du stockage en chambre froide. De plus, le système est influencé par un grand nombre de paramètres : l’orientation de la palette, l’ajourage des cartons, la vitesse de soufflage, la puissance de chauffage…L’objectif de la thèse est d'apporter de nouvelles connaissances sur les écoulements d'air et les transferts thermiques au sein d'empilements de produits dégageant de la chaleur et faiblement ventilés. Ces connaissances visent également à répondre à des problématiques industrielles. Les acquis du projet doivent contribuer à améliorer la conception aéraulique des emballages et des modes de palettisation du fromage, qui à ce jour est réalisée de manière empirique. Il convient également de noter que la problématique scientifique abordée dans ce projet (interactions aérodynamiques et thermiques entre convection forcée et naturelle autour et au sein d'empilements d’objets) présente des applications dans d’autres domaines tels que le refroidissement des circuits électroniques.La thèse se compose de deux parties principales : Une étude expérimentale et une étape de modélisation. Dans l’approche expérimentale, une maquette de palette à l’échelle 1 a été conçue dans laquelle les produits ont été remplacés par des blocs de plâtre munis de résistances chauffantes afin de simuler le flux de chaleur dégagé par le produit. Les expérimentations ont été réalisées dans une cellule à température et vitesse d’air maitrisées pour deux vitesses amont : 0.31 et 0.73 m.s-1, trois puissances de chauffage : 0.05 W, 0.15 W et 0.30 W par produit (0.25kg) et deux orientations de la palette. L’utilisation d’un vélocimètre laser par effet Doppler (LDV) et d’un anémomètre à fil chaud ont permis de caractériser les écoulements (profils de vitesses, débit d’air dans les orifices) selon la vitesse amont et la puissance de chauffage. L’implantation de 200 thermocouples répartis dans l’ensemble du montage expérimental a par ailleurs permis d’obtenir les profils de température de l’air et des produits au sein de la palette selon ces mêmes paramètres.La partie modélisation a été réalisée selon deux approches: une simulation détaillée par mécanique des fluides numériques (CFD) avec un maillage de plusieurs millions de cellules et un modèle zonal (une vingtaine de zones) assimilant le système à un réseau hydraulique. Les deux modèles ont été validés grâce aux données expérimentales. L’approche CFD a permis d’obtenir des informations non accessibles à partir des mesures expérimentales ce qui a facilité la compréhension des phénomènes. L’approche zonale, de par sa simplicité d’utilisation et son faible temps de calcul est quant à elle plus adaptée pour une utilisation industrielle. / Cheese, like any fresh product, must be kept at a low temperature throughout the cold chain. A particularity of soft cheeses (Camembert, for example) is that they generate a significant amount of heat due to the respiration of the microorganisms. From a thermal point of view, cold air must flow within a cheese pallet to remove the heat released in order to achieve better production temperature control. From an airflow point of view, heat generated by the product induces natural convection inside the pallet. Several convection modes are therefore present: the forced convection imposed by the fans of the cold room around the pallet and the mixed convection, combination of forced and natural convection, inside the pallet. This therefore increases the complexity of the airflow. The mixed convection regime appears mainly at low fan speed which is often the case during storage. In addition, the system is influenced by many parameters: the orientation of the pallet, the opening area of the cartons, the blowing speed, the heat flux...The aim of the PhD is to provide inner knowledge on air flows and heat transfer within pallets of heat-generating products with low ventilation. This knowledge also aims to answer industrial problems. The PhD’s results should contribute to improve the design of vented cheese packaging and palletizing methods, which is currently done empirically. It should also be noted that the scientific topic addressed in this project related to aerodynamic and thermal interactions between forced and natural convection around and within the pallet has applications in other areas such as the cooling of electronic circuits.The PhD consists of two main parts: an experimental and a numerical study. In the experimental approach, a full scale pallet was built in which the products were replaced by plaster blocks inserted with heating resistance to simulate the heat flow generated by cheese. The experiments were carried out in a controlled temperature and air velocity room for two air inflow velocities: 0.31 and 0.73 m.s-1, three heat fluxes: 0.05 W, 0.15 W and 0.30 W per product (0.25 kg) and two orientations of the palette. The use of a laser Doppler velocimetry (LDV) and a hot-wire anemometer allowed characterizing airflows (velocity profiles, air flow rate in the vent holes) according to the air inflow velocity and the heat flux. The implementation of 200 thermocouples distributed throughout the experimental set-up also made it possible to obtain the temperature levels of the air and the products within the pallet according to these same parameters.The numerical study was performed by two approaches: a detailed model by computational fluid dynamics (CFD) with several millions of elements and a zonal model (about twenty zones) assimilating the system to a hydraulic network. Both models were validated using experimental data. The CFD gave complement information which is not accessible by the experimental measurements, which facilitated the understanding of the phenomena. The zonal approach, by its simplicity of use and its low computing time is more suitable for an industrial use.
94

bio-inspired attitude control of micro air vehicles using rich information from airflow sensors

Shen, He 01 January 2014 (has links)
Biological phenomena found in nature can be learned and customized to obtain innovative engineering solutions. In recent years, biologists found that birds and bats use their mechanoreceptors to sense the airflow information and use this information directly to achieve their agile flight performance. Inspired by this phenomenon, an attitude control system for micro air vehicles using rich amount of airflow sensor information is proposed, designed and tested. The dissertation discusses our research findings on this topic. First, we quantified the errors between the calculated and measured lift and moment profiles using a limited number of micro pressure sensors over a straight wing. Then, we designed a robust pitching controller using 20 micro pressure sensors and tested the closed-loop performance in a simulated environment. Additionally, a straight wing was designed for the pressure sensor based pitching control with twelve pressure sensors, which was then tested in our low-speed wind tunnel. The closed-loop pitching control system can track the commanded angle of attack with a rising time around two seconds and an overshoot around 10%. Third, we extended the idea to the three-axis attitude control scenarios, where both of the pressure and shear stress information are considered in the simulation. Finally, a fault tolerant controller with a guaranteed asymptotically stability is proposed to deal with sensor failures and calculation errors. The results show that the proposed fault tolerant controller is robust, adaptive, and can guarantee an asymptotically stable performance even in case that 50% of the airflow sensors fail in flight.
95

Ventilation i Fältsjukhus under en pandemi

Kabawi, Marial, Chamoun, Gabro January 2021 (has links)
As a measure to deal with Covid-19, the Swedish Armed Forces built field hospitals inStockholm and Gothenburg, in order to accommodate several patients, as the Stockholm regionand the Västra Götaland region feared that the pandemic would overload the intensive care unitin particular. Field hospitals were criticized for poor coverage and dimensioning of the variouscare facilities as well as poor ventilation.The aim of the study is to limit the spread of infection in the intensive care unit at field hospitalsand hospitals. The ventilation systems are studied and investigated the possibility ofsupplementing the system with cost-effective equipment, such as air purifiers. The two questionsare how do the number of air turnovers per hour affect the air quality in the room and how is theparticle concentration in a care room affected by the placement of independent air purification.The study is based on several particle measurements and a smoke test.Particle measurements were performed sequentially, to create a level playing field before eachmeasurement. In addition, three different placements were presented on standalone airpurification and a smoke test was performed to visualize the movement of the air. The resultsshow that with the help of the air purifier, particle reduction can increase to 50% already at 5air turnovers per hour (ACH). The most effective air turnover is considered to be ACH, as thisreduces the particle content of a room with a patient to as low levels as if ther was not a patientin the room.
96

Energieffektivisering av luftningssteget på Käppalaverket, Lidingö / Energy optimization of the aeration at Käppala wastewater treatment plant in Stockholm

Thunberg, Andreas January 2007 (has links)
<p>This master thesis in energy optimization was made during the autumn of 2006 at Käppala wastewater treatment plant in Lidingö, Stockholm. A preceding thesis, where all electricity consumption was mapped, showed that the aeration in the biological treatment is the single largest consumer in the plant, and it is therefore of interest to reduce this cost. The oxygen control strategy used at Käppala WWTP is working well from a nutrient removal point of view, but not from an economic one. The last aerobic zones have a very low oxygen consumption during low loading periods which give rise to enhanced dissolved oxygen concentrations with excessive costs and reduced denitrification as a result. But also during periods of normal loading unnecessary high oxygen concentration are sometimes given.</p><p>By modifying the aeration control strategy three full-scale experiments have been made, with the intention to reduce the air consumption. The experiments were carried out during week 37-50 in the autumn of 2006 and showed that savings could be made.</p><p>The regular oxygen control at Käppala WWTP controls the oxygen level in the aerobic compartment with two DO-setpoints; one in the first aerobic zone and one in the last. The zones in between are controlled by an airflow fractionation depending on the oxygen level in the first and last zone. In the first strategy to be evaluated, all four zones in the aerated part were individually controlled with its own setpoint. Two different setpoint combinations were tested. By using the fact that the efficiency in the oxygen transfer rate was higher at low airflows, savings of approximately 16 % were achieved. In the second strategy tested, an ammonia-feedback control combined with a DO-feedback controlled the DO-set point in the first aerobic zone. This strategy adjusted the DO- set points to the loading variations, and this gave a decreased airflow of approximately 9 %. Finally the two strategies were combined. All zones were then controlled individually with DO-set points set by an ammonium-feedback and a DO-feedback. The strategy gave savings in the airflow of approximately 18 %. In all three trials the aerated zones were more efficiently used, and the estimated savings are 550 000 SEK/year, and with a preserved nutrient removal efficiency.</p> / <p>Under hösten 2006 har ett examensarbete om energieffektivisering på Käppalaverket på Lidingö utförts. Ett föregående examensarbete där all elenergiförbrukning kartlades visade att blåsmaskinerna i biosteget står för den enskilt största förbrukningen i verket och det är därför av intresse att minska denna kostnad. Syrestyrningsstrategin som används på Käppalaverket fungerar mycket bra ur reningssynpunkt, men är inte optimal ur energisynpunkt. Dels luftas de första aeroba zonerna för mycket vid låg belastning vilket ger upphov till kraftigt förhöjda syrekoncentrationer i de sista aeroba zonerna med höga luftningskostnader och risk för försämrad denitrifikation, men även under normal belastning har det visat sig att onödigt höga syrekoncentrationer ibland ges.</p><p>Tre fullskaliga optimeringsförsök har utförts, med syfte att minska luftförbrukningen med bibehållen reningsgrad. Försöken pågick från vecka 37 till 50 hösten 2006, och visade att det finns möjlighet att spara energi genom att modifiera syrestyrningsstrategin.</p><p>Den reguljära syreregleringen i Käppalaverket styr syrehalten i den aeroba bassängen mot två syrebörvärden; ett i den första luftade zonen och ett i den sista. Luftflödet till de mellanliggande zonerna styrs av luftflödesandelar beroende på syrehalten i dessa två zoner. Den första strategin som utvärderades styrde istället samtliga zoner individuellt med egna börvärden, där två olika strukturer på de satta börvärdena användes. Genom att utnyttja en högre effektivitet i syreöverföringshastigheten vid låga luftflöden uppnåddes luftflödesbesparingar på ca 16 % i första försöket.</p><p>I den andra strategin styrdes syrebörvärdet i den första luftade zonen med hjälp av två återkopplingar, en från utgående ammoniumhalt och en från syrehalten i den sista luftade zonen.</p><p>Tack vare att strategin anpassade syrebörvärdena efter belastningen av syretärande ämnen erhölls luftflödesbesparingar på ca 9 %. Slutligen kombinerades de två strategierna; samtliga zoner styrdes individuellt med börvärden satta av en ammonium-återkoppling och en syre-återkoppling. Strategin medförde luftflödesbesparingar på ca 18 %. I samtliga försök utnyttjades de luftade zonerna bättre, och besparingspotentialen uträknad från 2005 års elpriser blev som mest 550 000 SEK/år, detta med en bibehållen reningsgrad.</p>
97

Rafraîchissement par la ventilation naturelle traversante des bâtiments en climat méditerranéen / Refreshments by the through natural ventilation of buildings mediterranean

Faggianelli, Ghjuvan Antone 14 November 2014 (has links)
Face à la nécessité de réduire les consommations énergétiques ainsi que les émissions de CO2 dans le secteur du bâtiment, nous voyons se succéder des réglementations thermiques de plus en plus strictes. Ainsi, en 2020, tous les bâtiments neufs devront être à énergie positive. Le recours à des stratégies passives, exploitant les ressources de l'environnement, est un point clé pour atteindre cet objectif.En climat méditerranéen, caractérisé des étés chauds et secs, la ventilation naturelle peut apporter un confort thermique acceptable si celle-ci est utilisée intelligemment. Son efficacité est cependant très dépendante des conditions météorologiques locales et peut varier grandement d'un site à l'autre. Malgré la simplicité de ce type de système, sa gestion peut également s'avérer complexe si l'utilisateur ne dispose pas d'informations suffisantes et n'est pas présent en permanence dans le bâtiment. Cela met en avant l'intérêt de disposer d'outils adaptés à son étude, ainsi que de proposer un pilotage simple et optimisé du bâtiment, basé sur le confort de l'occupant.Afin d'évaluer le potentiel de la ventilation naturelle sans avoir recours à une lourde campagne expérimentale ou à une phase de modélisation complexe, nous proposons tout d'abord des indicateurs climatiques permettant d'obtenir une première vue du site étudié.À partir d'une approche expérimentale et numérique en conditions réelles, nous nous intéressons ensuite à la problématique de la mesure dans les bâtiments ventilés naturellement et notamment à celle du débit d'air. L'instrumentation d'un bâtiment résidentiel de l'IESC, situé sur le site de l'Université de Corse et du CNRS, permet le développement et le test de différents modèles simplifiés et adaptés au cas d'étude. La partie aéraulique est traitée à l'aide d'outils statistiques tandis la partie thermique repose sur une modélisation par analogie électrique. Un cas d'application du modèle thermo-aéraulique ainsi développé est finalement proposé pour illustrer ses possibilités d'utilisation sur différents modes de gestion de la ventilation naturelle. / The need to reduce energy consumption and CO2 emissions in buildings leads to more and more stringent thermal regulations succeeding one another. In 2020, all new buildings should be positive energy buildings producing more energy than they use. Passive strategies, exploiting the resources of the environment, are a key point to meet this objective.In Mediterranean climate, characterized by hot and dry summers, natural ventilation can provide thermal comfort when used wisely. However, its efficiency is highly dependent on local weather conditions and can vary greatly from one site to another. Despite the simplicity of this type of system, its operation can be complex if the user does not have sufficient information and is not always present in the building. This shows the interest of developing appropriate tools for its study and implementing a simple and optimized control on the building, based on occupant comfort.To assess the potential of natural ventilation without the need of complex experimental measurement or modelling, we propose first of all several climate indicators which can give a first view of a site.Then, based on full-scale experimentations and numerical studies, we focus on the problem of measurement in naturally ventilated buildings with particular attention to the airflow rate. The instrumentation of a residential building at IESC (University of Corsica and CNRS) allows to develop and to test simplified models adapted to the case study. The airflow rate is obtained by statistical tools and the thermal model is based on an electrical analogy. Finally, an application of the coupled thermal and airflow model is proposed to highlight its possibilities on different natural ventilation control modes.
98

Études expérimentale et numérique des performances énergétiques d'une fenêtre pariétodynamique / Experimental and numerical study of energy performances of an airflow window

Greffet, Rémy 31 March 2016 (has links)
L'utilisation massive des énergies fossiles est en grande partie responsable des émissions de gaz à effet de serre. De plus, la croissance de la demande énergétique et la raréfaction des ressources fossiles conduisent à l'accroissement du coût de l'énergie. La réponse à cette problématique passe par deux moyens d'action indissociables : la réduction des consommations énergétiques et le recours aux énergies renouvelables. La fenêtre pariétodynamique permet d’agir sur les deux postes principaux de déperdition thermique d’un bâtiment que sont les baies et la ventilation. Le principe de la fenêtre pariétodynamique étudiée est de faire circuler de l’air en convection forcée entre trois verres avant d’être restitué à l’ambiance intérieure du bâtiment. Cela permet à l’air de récupérer à la fois une partie des déperditions thermiques à travers la fenêtre et une partie de l’énergie solaire absorbée par les verres. Afin d’étudier le comportement thermo-aéraulique et les performances de la fenêtre, nous avons développé un modèle numérique de cette dernière. Un dispositif expérimental a été mis en place et utilisé afin de valider le modèle numérique et de comparer en conditions réelles les performances de la fenêtre étudiée à celles d’une fenêtre à double vitrage classique. Ces résultats expérimentaux ont été complétés par une étude paramétrique numérique réalisée pour différentes conditions climatiques et de fonctionnement. Les principaux enseignements issus de ces études expérimentales et numériques sont que le préchauffage de l’air se fait essentiellement dans la lame d’air intérieure, la température de la première lame d’air restant proche de celle de l’air extérieur. De plus, et contrairement aux températures de la face intérieure et de l’air soufflé, celle de la face externe de la fenêtre est peu impactée par les paramètres étudiés. Concernant le cadre de la fenêtre, nous avons observé que celui-ci bénéficie aussi des échanges thermiques avec l’air circulant, mais dans une moindre mesure. Cela contribue à rendre la fenêtre peu déperditive. Enfin, en couplant le modèle développé à un logiciel de simulation thermique dynamique, nous avons évalué le potentiel d’intégration de fenêtres pariétodynamiques dans une maison individuelle. Nous mettons ainsi en évidence que le besoin de chauffage est réduit d'environ 20 à 30 % par l’utilisation de fenêtres pariétodynamiques à la place de fenêtres à double vitrage classique. En été, si l’ambiance intérieure du bâtiment est plus fraîche que l’environnement extérieur, la fenêtre pré-rafraîchit l’air neuf entrant. / The massive use of fossil energies is largely responsible for greenhouse gas emissions. Moreover, the growth in energy demand and the depletion of fossil resources lead to an increase in energy costs. The response to this challenge requires two means of action which are linked : the reduction of energy consumption and the use of renewable energy. The airflow window acts on the two main ways of building heat losses that are windows and the ventilation. The principle of the studied airflow window is based on the circulation of fresh air, by forced convection, between the three glasses of the window before entering the building. This allows air to recover both a part of heat losses through the window and part of the solar energy absorbed by the glasses. To study the thermo-aeraulic behavior and thermal performances of the window, we have developed a numerical model of the studied airflow window. An experimental set up was used to validate the numerical model and compare, in real conditions, the studied window performances to the ones of a conventional double-glazed window. These experimental results were complemented by a numerical parametric study for different climatic and operating conditions.The main information from these experimental and numerical studies are that the preheating of the air takes place essentially in the inner air gap, temperature in the first air layer remaining close to the outdoor one. In addition, unlike the temperatures of the inside face and of the blown air, the outer face temperature of the window is not greatly affected by the studied parameters. On the window frame, we found that it also benefits of heat exchanges with the circulating air, but to a lesser extent. This makes the window energy efficient. Finally, by coupling the developed model to a thermal building simulation software, we evaluated the airflow windows integration potential in a house. We thus demonstrated that the heat load is reduced by about 20 to 30% by the use of airflow windows instead of conventional double-glazed windows. Moreover, in summer, when indoor is cooler than outdoor, we pointed out that the airflow window cools the incoming fresh air.
99

Robot odour localisation in enclosed and cluttered environments using naïve physics

Kowadlo, Gideon January 2007 (has links)
Odour localisation is the problem of finding the source of an odour or other volatile chemical. It promises many valuable practical and humanitarian applications. Most localisation methods require a robot to reactively track an odour plume along its entire length. This approach is time consuming and may be not be possible in a cluttered indoor environment, where airflow tends to form sectors of circulating airflow. Such environments may be encountered in crawl-ways under floors, roof cavities, mines, caves, tree-canopies, air-ducts, sewers or tunnel systems. Operation in these places is important for such applications as search and rescue and locating the sources of toxic chemicals in an industrial setting. This thesis addresses odour localisation in this class of environments. The solution consists of a sense-map-plan-act style control scheme (and low level behaviour based controller) with two main stages. Firstly, the airflow in the environment is modelled using naive physics rules which are encapsulated into an algorithm named a Naive Reasoning Machine. It was used in preference to conventional methods as it is fast, does not require boundary conditions, and most importantly, provides approximate solutions to the degree of accuracy required for the task, with analogical data structures that are readily useful to a reasoning algorithm. Secondly, a reasoning algorithm navigates the robot to specific target locations that are determined with a physical map, the airflow map, and knowledge of odour dispersal. Sensor measurements at the target positions provide information regarding the likelihood that odour was emitted from potential odour source locations. The target positions and their traversal are determined so that all the potential odour source sites are accounted for. The core method provides values corresponding to the confidence that the odour source is located in a given region. A second search stage exploiting vision is then used to locate the specific location of the odour source within the predicted region. This comprises the second part of a bi-modal, two-stage search, with each stage exploiting complementary sensing modalities. Single hypothesis airflow modelling faces limitations due to the fact that large differences between airflow topologies are predicted for only small variations in a physical map. This is due to uncertainties in the map and approximations in the modelling process. Furthermore, there are uncertainties regarding the flow direction through inlet/outlet ducts. A method is presented for dealing with these uncertainties, by generating multiple airflow hypotheses. As the robot performs odour localisation, airflow in the environment is measured and used to adjust the confidences of the hypotheses using Bayesian inference. The best hypothesis is then selected, which allows the completion of the localisation task. This method improves the robustness of odour localisation in the presence of uncertainties, making it possible where the single hypothesis method would fail. It also demonstrates the potential for integrating naive physics into a statistical framework. Extensive experimental results are presented to support the methods described above.
100

Energieffektivisering av luftningssteget på Käppalaverket, Lidingö / Energy optimization of the aeration at Käppala wastewater treatment plant in Stockholm

Thunberg, Andreas January 2007 (has links)
This master thesis in energy optimization was made during the autumn of 2006 at Käppala wastewater treatment plant in Lidingö, Stockholm. A preceding thesis, where all electricity consumption was mapped, showed that the aeration in the biological treatment is the single largest consumer in the plant, and it is therefore of interest to reduce this cost. The oxygen control strategy used at Käppala WWTP is working well from a nutrient removal point of view, but not from an economic one. The last aerobic zones have a very low oxygen consumption during low loading periods which give rise to enhanced dissolved oxygen concentrations with excessive costs and reduced denitrification as a result. But also during periods of normal loading unnecessary high oxygen concentration are sometimes given. By modifying the aeration control strategy three full-scale experiments have been made, with the intention to reduce the air consumption. The experiments were carried out during week 37-50 in the autumn of 2006 and showed that savings could be made. The regular oxygen control at Käppala WWTP controls the oxygen level in the aerobic compartment with two DO-setpoints; one in the first aerobic zone and one in the last. The zones in between are controlled by an airflow fractionation depending on the oxygen level in the first and last zone. In the first strategy to be evaluated, all four zones in the aerated part were individually controlled with its own setpoint. Two different setpoint combinations were tested. By using the fact that the efficiency in the oxygen transfer rate was higher at low airflows, savings of approximately 16 % were achieved. In the second strategy tested, an ammonia-feedback control combined with a DO-feedback controlled the DO-set point in the first aerobic zone. This strategy adjusted the DO- set points to the loading variations, and this gave a decreased airflow of approximately 9 %. Finally the two strategies were combined. All zones were then controlled individually with DO-set points set by an ammonium-feedback and a DO-feedback. The strategy gave savings in the airflow of approximately 18 %. In all three trials the aerated zones were more efficiently used, and the estimated savings are 550 000 SEK/year, and with a preserved nutrient removal efficiency. / Under hösten 2006 har ett examensarbete om energieffektivisering på Käppalaverket på Lidingö utförts. Ett föregående examensarbete där all elenergiförbrukning kartlades visade att blåsmaskinerna i biosteget står för den enskilt största förbrukningen i verket och det är därför av intresse att minska denna kostnad. Syrestyrningsstrategin som används på Käppalaverket fungerar mycket bra ur reningssynpunkt, men är inte optimal ur energisynpunkt. Dels luftas de första aeroba zonerna för mycket vid låg belastning vilket ger upphov till kraftigt förhöjda syrekoncentrationer i de sista aeroba zonerna med höga luftningskostnader och risk för försämrad denitrifikation, men även under normal belastning har det visat sig att onödigt höga syrekoncentrationer ibland ges. Tre fullskaliga optimeringsförsök har utförts, med syfte att minska luftförbrukningen med bibehållen reningsgrad. Försöken pågick från vecka 37 till 50 hösten 2006, och visade att det finns möjlighet att spara energi genom att modifiera syrestyrningsstrategin. Den reguljära syreregleringen i Käppalaverket styr syrehalten i den aeroba bassängen mot två syrebörvärden; ett i den första luftade zonen och ett i den sista. Luftflödet till de mellanliggande zonerna styrs av luftflödesandelar beroende på syrehalten i dessa två zoner. Den första strategin som utvärderades styrde istället samtliga zoner individuellt med egna börvärden, där två olika strukturer på de satta börvärdena användes. Genom att utnyttja en högre effektivitet i syreöverföringshastigheten vid låga luftflöden uppnåddes luftflödesbesparingar på ca 16 % i första försöket. I den andra strategin styrdes syrebörvärdet i den första luftade zonen med hjälp av två återkopplingar, en från utgående ammoniumhalt och en från syrehalten i den sista luftade zonen. Tack vare att strategin anpassade syrebörvärdena efter belastningen av syretärande ämnen erhölls luftflödesbesparingar på ca 9 %. Slutligen kombinerades de två strategierna; samtliga zoner styrdes individuellt med börvärden satta av en ammonium-återkoppling och en syre-återkoppling. Strategin medförde luftflödesbesparingar på ca 18 %. I samtliga försök utnyttjades de luftade zonerna bättre, och besparingspotentialen uträknad från 2005 års elpriser blev som mest 550 000 SEK/år, detta med en bibehållen reningsgrad.

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